10000 Added columns for joint limits · ctc-eng/robotics-toolbox-python@368b889 · GitHub
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petercorkepetercorke
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Added columns for joint limits
displayed if the robot has them
1 parent 4a47e84 commit 368b889

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+37
-10
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1 file changed

+37
-10
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‎roboticstoolbox/robot/DHRobot.py

Lines changed: 37 additions & 10 deletions
Original file line numberDiff line numberDiff line change
@@ -119,38 +119,64 @@ def qs(j, link):
119119

120120
def angle(theta):
121121
if sym.issymbol(theta):
122-
return "<<red>>" + str(L.alpha)
122+
return "<<red>>" + str(theta)
123123
else:
124-
str(L.alpha * deg) + "\u00b0"
124+
return str(theta * deg) + "\u00b0"
125125

126+
has_qlim = any([link._qlim is not None for link in self])
127+
if has_qlim:
128+
qlim_columns = [
129+
Column("q⁻", headalign="^"), Column("q⁺", headalign="^"),
130+
]
131+
qlim = self.qlim
132+
133+
else:
134+
qlim_columns = []
126135
if self.mdh:
136+
# MDH format
127137
table = ANSITable(
128138
Column("aⱼ₋₁", headalign="^"),
129139
Column("⍺ⱼ₋₁", headalign="^"),
130140
Column("θⱼ", headalign="^"),
131141
Column("dⱼ", headalign="^"),
142+
*qlim_columns,
132143
border="thick"
133144
)
134145
for j, L in enumerate(self):
146+
if has_qlim:
147+
if L.isprismatic():
148+
ql = [qlim[0, j], qlim[1, j]]
149+
else:
150+
ql = [angle(qlim[k, j]) for k in [0, 1]]
151+
else:
152+
ql = []
135153
if L.isprismatic():
136-
table.row(L.a, angle(L.alpha), angle(L.theta), qs(j, L))
154+
table.row(L.a, angle(L.alpha), angle(L.theta), qs(j, L), *ql)
137155
else:
138-
table.row(L.a, angle(L.alpha), qs(j, L), L.d)
156+
table.row(L.a, angle(L.alpha), qs(j, L), L.d, *ql)
139157
else:
140158
# DH format
141159
table = ANSITable(
142160
Column("θⱼ", headalign="^", colalign="<"),
143161
Column("dⱼ", headalign="^"),
144162
Column("aⱼ", headalign="^"),
145163
Column("⍺ⱼ", headalign="^"),
164+
*qlim_columns,
146165
border="thick"
147166
)
148167
for j, L in enumerate(self):
168+
if has_qlim:
169+
if L.isprismatic():
170+
ql = [qlim[0, j], qlim[1, j]]
171+
else:
172+
ql = [angle(qlim[k, j]) for k in [0, 1]]
173+
else:
174+
ql = []
149175
if L.isprismatic():
150176
table.row(
151-
angle(L.theta), qs(j, L), L.a, angle(L.alpha * deg))
177+
angle(L.theta), qs(j, L), L.a, angle(L.alpha), *ql)
152178
else:
153-
table.row(qs(j, L), L.d, L.a, angle(L.alpha))
179+
table.row(qs(j, L), L.d, L.a, angle(L.alpha), *ql)
154180

155181
s = str(table)
156182

@@ -2515,12 +2541,13 @@ def __init__(self, *args, **kwargs):
25152541
import roboticstoolbox as rtb
25162542
# import spatialmath.base.symbolic as sym
25172543

2518-
puma = rtb.models.DH.Planar2()
2544+
planar = rtb.models.DH.Planar2()
25192545
# J = puma.jacob0(puma.qn)
25202546
# print(J)
25212547
# print(puma.manipulability(puma.qn))
25222548
# print(puma.manipulability(puma.qn, 'asada'))
25232549
#tw, T0 = puma.twists(puma.qz)
2524-
print(puma.qlim)
2525-
print(puma[0].qlim)
2526-
print(puma.islimit([0, -5]))
2550+
print(planar)
2551+
2552+
puma = rtb.models.DH.Puma560()
2553+
print(puma)

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